CN110238301B

CN110238301B - Stamping multi-station conveying system

Info

Publication number: CN110238301B
Application number: CN201910497158.7A
Authority: CN
Inventors: 陆群; 魏风波; 张志宇
Original assignee: CH Auto Technology Co Ltd
Current assignee: CH Auto Technology Co Ltd
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2021-04-20
Anticipated expiration: 2039-06-10
Also published as: CN110238301A

Abstract

The invention relates to a stamping multi-station conveying system, which comprises: the first ends of the end-effector are used for teaching to a stamping part, each end-effector respectively comprises a first spherical hinge seat and a second spherical hinge seat, the first spherical hinge seat and the second spherical hinge seat respectively comprise a first spherical hinge seat and a second spherical hinge seat, the first spherical hinge seat of each spherical hinge seat is inserted into the second spherical hinge seat in the group, and the second spherical hinge seat in the group corresponding to the first spherical hinge seat can rotate; the manipulator, its figure is two, each the manipulator includes arm and mount pad respectively, the mount pad slidable locates on the arm that corresponds, the mount pad with one that corresponds the second end of end effector is connected. The stamping multi-station conveying system can obviously improve the analysis and planning efficiency of the end effector, and the early analysis and planning result can be directly used for on-site assembly with the later stage, so that the installation and debugging efficiency is greatly improved.

Description

Stamping multi-station conveying system

Technical Field

The invention relates to the technical field of stamping high-speed production lines, in particular to a stamping multi-station conveying system.

Background

With the development of the automobile industry towards industry 4.0, high-speed automatic production is a necessary trend. Stamping multi-station production is a typical high-speed production mode and is increasingly emphasized by various automobile factories. Because the production line is high in construction cost and limited by workshop sites, one stamping multi-station production line must give consideration to high-speed and automatic production of various parts of different vehicle types, and the production line puts severe requirements on design, manufacturing, debugging and the like of automatic equipment including a press, an automatic conveying mechanical arm and an end effector. The stamping multi-station production line requires simple operation of a manipulator and an end effector, and the end effector can be quickly designed for early mechanism simulation analysis; meanwhile, early analysis can guide later-stage production and debugging. Thus, there are two aspects of work for the end effector:

(1) quickly designing an end effector model for a full-sequence die of a specific stamping part, and outputting a part list of the end effector for automatic simulation analysis;

(2) and the end pick can be orderly assembled on the manufacturing site according to the component list, so that the production can be rapidly carried out.

However, it is currently the case that a manufacturing facility must test the end-effector from a discrete standard end-effector piece on site, and rework is inevitable during the test. In addition, the end effector assembled using standard parts has few joints and is therefore very difficult to adjust, resulting in poor efficiency. Since the tooling assembly must be scheduled after the mold is manufactured, it is clear that planning the design is rather silent, since early simulation analysis is not possible.

How to design the end effector quickly for early simulation and reasonable planning is realized to reduce the difficulty of installing and debugging the end effector on site, and the method is a difficult problem which needs to be solved in stamping multi-station automatic production. Referring to fig. 1 to 5, a robot and a shovel type end effector, which are commonly used in a stamping multi-station conveying system in the prior art, are symmetrically arranged at two sides. The conveying system comprises mechanical hands r 'and r', end pickers f1, f2, f3 and f4, the position in the figure 1 is a grabbing state, and the upper right part is a detail view of a stamping part d. The stamping d at the lower right position is placed on the die e, and the supporting shovels g of the end pickers f1, f2, f3 and f4 respectively support the stamping d. The end effector mounts m1, m2, m3 and m4 are fixed to the manipulators r' and r ″ and are not adjustable in relative position.

The end effector f1 is constructed as shown in fig. 3, two fixed ball hinge seats a and b, the ball hinge seat a has two ball hinge pairs a1 and a2, the ball hinge seat b has two ball hinge pairs b1 and b2, wherein a1 and a2 can not rotate relatively, b1 and b2 can not rotate relatively, and the end holding shovel g has a circumferential revolute pair and a longitudinal telescopic pair. In fig. 3, c is a fastening screw, and the end effector is pre-tightened during installation and debugging, so that on one hand, the part cannot be loosened too much to avoid dropping, and the part posture cannot be manually adjusted due to too tight.

The end pickers f1 and f2 on the right side of the die e in fig. 1 are selected for analysis, the width L1 of the stamping part d is not equal to the width L1' between the end picker installation seats m1 and m2, and in order to achieve smooth installation, the supporting shovel g of the end picker f1 and the end picker installation seat m1 are horizontally staggered by a distance. Because the width of the stamping parts is different, the width between the end pick mounting seats m1 and m2 cannot be adjusted, the width difference between the two can only be compensated by the expansion and the torsion of each part of the end pick f1 and f2, the universality of the parts is low, and the cost is increased. Obviously, for the robot site, the source of this problem is that the end effector mount m1 on robot r "cannot move.

In addition, relative rotation between a1 and a2 and between b1 and b2 cannot be achieved, so that the end effector f1 is not flexible in installation and debugging, low in fault tolerance rate and insufficient in efficiency.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a stamping multi-station conveying system capable of significantly improving the analysis and planning efficiency of an end effector, providing direct assembly guidance of the end effector, and greatly improving the efficiency of the end effector in the later period of installation and debugging, which has solved the problems in the prior art.

According to the present invention, there is provided a stamping multi-station conveying system comprising:

the first ends of the end-effector are used for teaching to a stamping part, each end-effector respectively comprises a first spherical hinge seat and a second spherical hinge seat, the first spherical hinge seat and the second spherical hinge seat respectively comprise a first spherical hinge seat and a second spherical hinge seat, the first spherical hinge seat of each spherical hinge seat is inserted into the second spherical hinge seat in the group, the second spherical hinge seat in the group of the first spherical hinge seats is telescopic, and the second spherical hinge seat in the group of the first spherical hinge seats can rotate;

the manipulator, its figure is two, each the manipulator includes arm and mount pad respectively, the mount pad slidable locates on the arm that corresponds, the mount pad with one that corresponds the second end of end effector is connected.

Preferably, the end effector further comprises a first cue stick, a double cue stick, a second cue stick, and a blade;

the ball head of the first end of the first single ball rod is arranged in the first spherical hinge seat of the first spherical hinge seat group, the second end of the first single ball rod is connected with the supporting shovel, the ball head of the first end of the double ball rod is arranged in the second spherical hinge seat of the first spherical hinge seat group, the ball head of the second end of the double ball rod is arranged in the first spherical hinge seat of the second spherical hinge seat group, the ball head of the first end of the second single ball rod is arranged in the second spherical hinge seat of the second spherical hinge seat group, and the second end of the second single ball rod is connected with the mounting seat.

Preferably, the holding shovel is inserted into the second end of the first cue,

and the supporting shovel can rotate relative to the first single ball rod.

Preferably, the supporting shovel is provided with a rotating shaft, the second end of the first cue rod is provided with an inserting pipe, and the rotating shaft of the supporting shovel is inserted into the inserting pipe of the first cue rod;

the adjusting groove radially penetrating through the whole inserting pipe is formed in the peripheral wall of the inserting pipe on the first single ball rod, the fastening clamp is sleeved on the peripheral wall of the inserting pipe, and an adjusting screw is screwed at an opening of the fastening clamp and used for adjusting the tightness of the rotating shaft.

Preferably, the first spherical hinge seats of the first group of spherical hinge seats and the second group of spherical hinge seats are respectively provided with an inserting shaft, the second spherical hinge seats in each group are provided with inserting pipes, the inserting shafts are inserted into the corresponding inserting pipes, the inserting shafts can rotate relative to the inserting pipes and can also stretch relative to the corresponding inserting pipes, and meanwhile, a rotating pair and a telescopic pair are formed, so that a movable spherical hinge structure is formed.

Preferably, the peripheral walls of the insertion pipes of the second spherical hinge seats of the first group of spherical hinge seats and the second group of spherical hinge seats are respectively provided with an adjusting groove which radially penetrates through the whole insertion pipe, the peripheral walls of the insertion pipes are sleeved with a fastening clamp, and an opening of the fastening clamp is screwed with an adjusting screw for adjusting the tightness of the inserted shaft of the clamping.

Preferably, the mounting seat comprises a sliding plate, a vertical rod, a rod clamp, a fixing clamp and an adjusting bolt;

the adjusting bolt is arranged on the mechanical arm in a sliding mode, a fastening nut is screwed on the end of the first end of the adjusting bolt, the lower end of the vertical rod is fixed in the rod clamp, the fixing clamp is connected to the upper end of the vertical rod, and the second end of the end picking device is fixed in the fixing clamp.

Preferably, the number of the adjusting bolts is two, the two adjusting bolts are respectively arranged on two sides of the vertical rod, a nut is arranged at the second end of each adjusting bolt, and the nut and the sliding plate are respectively arranged on two opposite sides of the mechanical arm;

the mechanical arm is provided with a sliding groove, the sliding groove extends along the length direction of the mechanical arm, and the adjusting bolt is arranged in the sliding groove;

a first guide groove and a second guide groove are respectively formed in two opposite side surfaces of the sliding groove and are respectively communicated with the sliding groove;

the sliding plate is positioned in the first guide groove, and the nut is positioned in the second guide groove.

Preferably, a through groove is formed in the sliding plate, and the adjusting bolt penetrates through the through groove;

the adjusting bolt is provided with a thread part which is positioned on the end head of the first end of the adjusting bolt.

Preferably, the number of the end picking devices is four, and every two end picking devices are in a group and are respectively arranged on two opposite sides of the stamping part.

Has the advantages that:

according to the stamping multi-station conveying system, on one hand, the mounting seat of the end effector can be slidably arranged on the mechanical arm, so that the end effector can be freely adjusted along the length direction of the mechanical arm, the flexibility degree is increased, parts of the end effector with the same specification can be suitable for stamping parts with different widths, the end effector parts with various specifications do not need to be purchased, and the production cost is reduced; on the other hand, the end effector is provided with the first spherical hinge seat and the second spherical hinge seat which are provided with the rotating pair and the telescopic pair simultaneously, so that the rotating freedom of each spherical hinge part in the circumference and the telescopic formation in the longitudinal direction of the end effector are increased, and the installation flexibility of the mechanism is enhanced.

The stamping multi-station conveying system can obviously improve the analysis and planning efficiency of the end effector, and the early analysis and planning result can be directly used for on-site assembly with the later stage, so that the installation and debugging efficiency is greatly improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 shows a top view of a prior art stamping multi-station transport system in an assembled state.

Fig. 2 shows a perspective view of a prior art stamping multi-station transport system in an assembled state (with the stamping parts shown separated).

Fig. 3 shows a schematic view of an end effector of a prior art stamping multi-station conveying system in a longitudinally extended state.

Fig. 4 shows a schematic view of an end effector f1 of a prior art stamping multi-station conveying system.

Fig. 5 shows a schematic view of an end effector f2 of a prior art stamping multi-station conveying system.

Fig. 6 shows a top view of a stamping multi-station conveyor system according to an embodiment of the invention in an assembled state.

Fig. 7 shows a front view of a stamping multi-station conveyor system according to an embodiment of the invention in an assembled state.

Fig. 8 shows a perspective view of the stamping multi-station conveying system according to the embodiment of the invention in an assembled state (in which the stamping parts are shown separately).

Fig. 9 shows a schematic view of an end effector of a stamping multi-station conveying system in a longitudinally extended state according to an embodiment of the invention.

Fig. 10 shows an assembly sequence diagram for an end effector of a stamping multi-station conveyor system according to an embodiment of the invention.

Fig. 11 shows a comparison of an end-effector of a prior art stamping multi-station conveyor system and an end-effector of an embodiment of the present invention in their respective longitudinally extended states.

Fig. 12 shows a comparison of interference when mounting end effector F1 in the prior art and end effector F1 according to an embodiment of the present invention to mount R2, respectively, according to an embodiment of the present invention.

Fig. 13 shows a comparison of interference when mounting end effector F2 in the prior art and end effector F2 according to an embodiment of the present invention to mount R2, respectively, according to an embodiment of the present invention.

Fig. 14 is a schematic structural view showing interference of an end effector F2 of the punching multi-station conveying system in mounting adjustment according to the embodiment of the present invention.

Fig. 15 is a schematic diagram showing a structure of rotating two sets of ball hinge bases when adjusting the end effector F2 in the state of interference in fig. 14.

Fig. 16 shows a disassembled schematic view of a stamping multi-station conveying system according to an embodiment of the invention.

Fig. 17-18 illustrate perspective views of a robot of a stamping multi-station conveying system according to an embodiment of the present invention from different perspectives.

Fig. 19 shows a front view of a robot of a stamping multi-station transfer system according to an embodiment of the invention from a different perspective.

Fig. 20-21 illustrate perspective views of a robotic arm of a stamping multi-station conveyor system according to an embodiment of the present invention from different perspectives.

Figure 22 is an elevation view of a robotic arm of a stamping multi-station conveyor system according to an embodiment of the present invention.

Fig. 23 shows a cross-sectional view B-B in fig. 21.

Fig. 24 shows an enlarged view of the portion C in fig. 23.

Fig. 25 is a perspective view of a mounting seat of the stamping multi-station conveying system according to an embodiment of the invention.

In fig. 1 to 5:

manipulators r' and r "; end-picks f1, f2, f3, f 4; stamping a part d; a mold e; mounting seats m1, m2, m3 and m 4; ball hinge seats a and b; fastening screws c, spherical hinge pairs a1 and a 2; spherical hinge pairs b1 and b 2; and g, supporting a shovel.

In fig. 6 to 25:

end effectors F1, F2, F3, F4; robot R1, R2; mounts M1, M2, M3, M4; stamping part d, die e, mechanical arm 11, sliding chute 111, first guide groove 112, second guide groove 113, guide rail structure 110, mounting seat 12, sliding plate 121, through groove 1211, vertical rod 122, rod clamp 124, fixing clamp 123, adjusting bolt 125, fastening nut 126, first group of ball hinge seat 21, second group of ball hinge seat 22, first ball hinge seat 201, second ball hinge seat 202, first single ball rod 23, double ball rod 24, second single ball rod 25, holding shovel 26, fastening clamp 27 and adjusting screw 28.

Detailed Description

Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by the same or similar reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale.

As shown in fig. 6 to 25, the present invention provides a stamping multi-station conveying system including a plurality of end-effectors and a robot. The first end of the end-effector is used for teaching to the stamping part d, each end-effector respectively comprises a first spherical hinge base 21 and a second spherical hinge base 22, the first spherical hinge base 21 and the second spherical hinge base 22 respectively comprise a first spherical hinge base 201 and a second spherical hinge base 202, the first spherical hinge base 201 of each spherical hinge base is inserted on the second spherical hinge base 202 in the group, the first spherical hinge base 201 is telescopic relative to the second spherical hinge base 202 in the group, and the first spherical hinge base 201 is rotatable relative to the second spherical hinge base 202 in the group. The number of the mechanical arms is two, each mechanical arm comprises a mechanical arm 11 and a mounting seat 12, the mounting seats 12 can be arranged on the corresponding mechanical arms 11 in a sliding mode, and the mounting seats 12 are connected with the second ends of the corresponding end pickers.

In this embodiment, the number of the end pickups is four, and each two of the four end pickups are in one group and respectively disposed on two opposite sides of the stamping part d. Wherein, end effector F1 and end effector F2 are in one group and located on one side of stamping d, and end effectors F3 and F4 are in one group and located on the other side of stamping d. The stamping part d is arranged on a die e, the die e is of a cuboid structure, and an inverted T-shaped part is arranged at the top of the cuboid structure. The stamping part d is a bent plate-shaped structure, the structure of the stamping part d is matched with the die e, and the lower part of the stamping part d is buckled on the T-shaped part of the cuboid structure. The supporting shovel in this embodiment is taught to the stamping part d, and may be understood as abutting against one end of the stamping part d, as shown in fig. 8.

The end effector also includes a first cue stick 23, a double cue stick 24, a second cue stick 25, and a blade 26. The ball head of the first end of the first cue 23 is arranged in the first spherical hinge seat 201 of the first group of spherical hinge seats 21, so as to form a spherical hinge pair; the first spherical hinge seat 201 of the first group of spherical hinge seats 21 is provided with an inserting shaft, the second spherical hinge seat 202 in the group is provided with an inserting pipe, the inserting shaft is inserted in the inserting pipe, the inserting shaft can rotate relative to the inserting pipe and can extend relative to the inserting pipe, and a rotating pair and an extending pair are formed at the same time, so that a first movable spherical hinge structure is formed; the second end of the first single ball rod 23 is connected with the supporting shovel 26, the ball head of the first end of the double ball rod 24 is arranged in the second spherical hinge seat 202 of the first spherical hinge seat group 21, the ball head of the second end of the double ball rod 24 is arranged in the first spherical hinge seat 201 of the second spherical hinge seat group 22, and two ball heads at two ends of the double ball rod 24 respectively form a spherical hinge pair with the second spherical hinge seat 202 of the first spherical hinge seat group 21 and the first spherical hinge seat 201 of the second spherical hinge seat group 22; the first spherical hinge seat 201 of the second group of spherical hinge seats 22 is provided with an inserting shaft, the second spherical hinge seat 202 in the group is provided with an inserting pipe, the inserting shaft is inserted in the inserting pipe, the inserting shaft can rotate relative to the inserting pipe and can extend relative to the inserting pipe, and a rotating pair and an extending pair are formed at the same time, so that a second movable spherical hinge structure is formed; the ball head of the first end of the second cue stick 25 is arranged in the second ball socket 202 of the second set of ball sockets 22, thereby forming a ball-and-socket pair, and the second end of the second ball socket 202 is used for connecting the mounting seat 12.

Further, in order to increase the adjustment amount of the longitudinal adjustment of the end effector, the supporting shovel 26 is provided with a rotating shaft, the second end of the first cue rod 23 is provided with an inserting pipe, the rotating shaft of the supporting shovel 26 is inserted into the inserting pipe of the first cue rod 23, and the supporting shovel 26 can rotate relative to the first cue rod 23, so that a rotating pair and a telescopic pair are formed simultaneously.

In this embodiment, the peripheral walls of the insertion tubes of the two second spherical hinge seats 202 and the first cue 23 are respectively provided with an adjusting groove radially penetrating through the whole insertion tube, the peripheral wall of the insertion tube is sleeved with a fastening clip 27, and an opening of the fastening clip 27 is provided with an adjusting screw 28 for adjusting the tightness of the inserted shaft of the clip.

In this embodiment, the longitudinal expansion amount of the end effector can be adjusted by cooperatively adjusting the axial expansion amount between the two ball joints of the first set of ball joint seats 21, the axial expansion amount between the two ball joints of the second set of ball joint seats 22, and the axial expansion amount between the first cue stick 23 and the blade 26.

Referring to fig. 10, when the end effector is assembled, the arrow indicates the assembling direction, and the assembling sequence is from the first end to the second end of the end effector, i.e., the assembling sequence from left to right in fig. 10, which is not described herein again.

Referring to fig. 11, by comparing the prior art end effector with the end effector of this example at maximum longitudinal extension, the difference in longitudinal travel of the two end effectors is:

Δ＝(ST1+ST2+ST3)-(st1+st2+st3)；

it can be seen that the end effector in this embodiment has a greater amount of longitudinal reach and thus a greater range of longitudinal distance adjustment.

Referring to fig. 12-14, which show the advantage of the end effector with a movable ball pivot in this embodiment in terms of movable ball pivot adjustment, the robot is selected here to analyze, first two existing fixed ball pivot end effectors f1 and f2 are analyzed, and when f1 is mounted on the mounting M1 of the end effector in robot R2, its kinematic pair is adjusted to position the blade 26 on the punch d, and similarly f2 of the end effector is mounted in place, and the attitude of the two end effectors is recorded. A similar analysis was then performed for F1 and F2 of the fixed double action ball pivot tray shovel 26 end effector in this example. It can be seen by observing the attitude of f1 and f2 for the two prior art fixed ball pivot end pickers that end picker f1 presents two interference zones q1 and q2 and end picker f2 presents two interference zones q3 and q 4. For interference region q1, rotating the fixed ball pivot a of the end effector f1 about y1, it was found that interference at both the front and rear of the fixed ball pivot a of the end effector f1 could not be avoided at the same time, as was the case for q2, q3, and q 4. By observing the attitude of the end effector F1 and F2 of the movable ball pivot support shovel 26 in this embodiment, the interference can be eliminated by rotating the ball cup F1 along the rotation margin a1.1 of the ball pivot pair formed between the second ball pivot mount 202 of the second group of ball pivot mounts 22 and the second single ball rod 25 at the position Q2, and similarly, the interference can be eliminated by Q1, Q3, and Q4.

Referring to fig. 25, the mounting base 12 includes a sliding plate 121, a vertical rod 122, a rod clamp 124, a fixing clamp 123, and an adjusting bolt 125. The rod clamp 124 is arranged on one side face of the sliding plate 121, a first end of an adjusting bolt 125 sequentially penetrates through the mechanical arm 11, the sliding plate 121 and the rod clamp 124, the adjusting bolt 125 is arranged on the mechanical arm 11 in a sliding mode, a fastening nut 126 is screwed on the end head of the first end of the adjusting bolt 125, the lower end of the vertical rod 122 is fixed in the rod clamp, the fixing clamp 123 is connected to the upper end of the vertical rod 122, and the second end of the end effector is fixed in the fixing clamp 123. Rod clamp 124 is a plate-like structure having a convex arcuate portion shaped and dimensioned to fit about vertical rod 122 for receiving vertical rod 122. The end of the retaining clip 123 is clamped on the tree trunk, the other end is provided with a clamping hole, the axial direction of the clamping hole is perpendicular to the axial direction of the vertical rod 122, the clamping hole is used for clamping the second end of the second single-club 25, and the end effector is clamped on the retaining clip 123 through the second single-club 25. The clamping tightness of the fixing clamp 123 for the vertical rod 122 can be adjusted, and the clamping tightness of the fixing clamp 123 for the second cue 25 can also be adjusted.

In this embodiment, the number of the adjusting bolts 125 is two, two adjusting bolts 125 are respectively disposed on two sides of the vertical rod 122, and a nut is disposed on a second end of the adjusting bolt 125, and the nut and the sliding plate 121 are respectively disposed on two opposite sides of the mechanical arm 11.

Referring to fig. 20 to 24, the robot arm 11 is provided with a chute 111, the chute 111 extends along the length direction of the robot arm 11, and the adjusting bolt 125 is provided in the chute 111. The opposite two side surfaces of the sliding groove 111 are respectively provided with a first guide groove 112 and a second guide groove 113, and the first guide groove 112 and the second guide groove 113 are respectively communicated with the sliding groove 111. The sliding plate 121 is located in the first guide groove 112, the nut is located in the second guide groove 113, and the rod clamp 124 can be matched with the clamping plate by tightening the nut, so that the vertical rod 122 can be firmly clamped. The robot arm 11 has two sliding grooves 111, the two sliding grooves 111 are disposed along the length direction of the robot arm 11 at a predetermined distance, and the first guide groove 112 and the second guide groove 113 penetrate the entire robot arm 11 along the length direction of the robot arm 11, respectively, so as to form the integrated guide rail structure 110. When the tightening nut 126 is loosened, the mount 12 may slide within the track structure 110 of the robot arm.

In this embodiment, the robot arm 11 is a rectangular parallelepiped structure, and the rail structure 110 is disposed on one side of the top surface of the rectangular parallelepiped structure. During the use, two arms 11 symmetric distribution are in the relative both sides of stamping workpiece d to, the extending direction of two arms 11 sets up with the length direction vertical of stamping workpiece d.

Further, the sliding plate 121 is opened with a through slot 1211, the adjusting bolt 125 passes through the through slot 1211, and the through slot 1211 extends along the length direction of the sliding plate 121, i.e. the same direction as the sliding slot 111. In this manner, the distance adjustment of the end effector along the length of the robot arm 11, i.e., along the lateral direction perpendicular to the longitudinal direction of the end effector, can be made larger.

The adjusting bolt 125 has a threaded portion at the end of the first end of the adjusting bolt 125. That is, the screw portion is provided only at the end of the first end of the adjusting bolt 125, and the portion of the adjusting bolt 125 contacting the sliding groove 111 and the through groove 1211 of the sliding plate 121 is smooth, so that the sliding of the adjusting bolt 125 can be more smooth.

When the end effector is assembled to the robot, the fastening nut 126 is loosened, the movable mount 12 of the end effector is adjusted to a position where the pressing member d is to be clamped according to the position of the pressing member d on the die e, the fastening nut 126 is locked, and then the second end of the first mono-rod 23 of the end effector is fitted into the pipe fixing clip 123, followed by locking the fixing bolt. The end effector movable mounts M2, M3, and M4 are assembled in the same manner.

When the stamping multi-station conveying system in the embodiment establishes the simulation model for simulation analysis, the following steps can be referred to:

1. a mechanism simulation engineer establishes a simulation model for the end effector and the mounting base 12 by using the CATIA V5 DMU module;

2. assembling a mounting seat 12 and a mechanical arm 11 in a DMU module to form a mechanical arm, clamping a second end of a second single ball rod 25 of an end effector in a fixing clamp 123 of the corresponding mounting seat 12, teaching an end effector supporting shovel 26 to a position needing to be clamped on a stamping part d on a die e by using the simulation function of the DMU module, and locking a first group of ball hinge seats 21, a second group of ball hinge seats 22 and a telescopic pair between a first single ball hinge and the supporting shovel 26 after avoiding interference among components of the end effector and ensuring the safe distance of equipment resources, thereby completing the installation and debugging of the end effector;

3. each joint and component in the assembly body output a list, so that the list is provided for a related department of the end pick-up as a related reference, and meanwhile, the list can be used as a basis for field installation and debugging and can be directly used for guiding field assembly.

In the stamping multi-station conveying system, on one hand, the mounting base 12 of the end effector is slidably arranged on the mechanical arm 11, so that the end effector can be freely adjusted along the length direction of the mechanical arm 11, the flexibility degree is increased, parts of the end effector with the same specification can be suitable for stamping parts d with different widths, the end effector parts with various specifications do not need to be purchased, and the production cost is reduced; on the other hand, by providing the first and second

spherical hinge seats

21 and 202 having both the revolute pair and the telescopic pair on the end effector, the degree of freedom of rotation of each spherical hinge part in the circumferential direction and the telescopic formation in the longitudinal direction of the end effector are increased, and the mounting flexibility of the mechanism is enhanced.

The simulation model of the stamping multi-station conveying system can be quickly established and simulation analysis can be quickly carried out through simulation software, so that the analysis and planning efficiency of the end effector is remarkably improved, and the early analysis and planning result can be directly used for on-site assembly with the later stage, so that the installation and debugging efficiency is greatly improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: it should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.

Claims

1. A stamping multi-station conveying system is characterized by comprising:

the first spherical hinge seats of the first group of spherical hinge seats and the second group of spherical hinge seats are respectively provided with an inserting shaft, the second spherical hinge seats in each group are provided with inserting pipes, the inserting shafts are inserted in the corresponding inserting pipes, the inserting shafts can rotate relative to the inserting pipes and can also stretch relative to the corresponding inserting pipes, and meanwhile, a rotating pair and a telescopic pair are formed, so that a movable spherical hinge structure is formed;

the number of the mechanical arms is two, each mechanical arm comprises a mechanical arm and a mounting seat, the mounting seats can be arranged on the corresponding mechanical arm in a sliding mode, and the mounting seats are connected with the second end of the corresponding end effector;

the mounting seat comprises a sliding plate, a vertical rod, a rod clamp, a fixing clamp and an adjusting bolt;

2. The stamping multi-station conveyor system of claim 1, wherein the end effector further comprises a first cue stick, a double cue stick, a second cue stick, and a blade;

3. The stamping multi-station conveying system of claim 2, wherein the holding shovel is inserted into the second end of the first cue stick,

and the supporting shovel can rotate relative to the first single ball rod.

4. The stamping multi-station conveying system according to claim 3, wherein a rotating shaft is arranged on the supporting shovel, an inserting pipe is arranged at the second end of the first single-ball rod, and the rotating shaft of the supporting shovel is inserted into the inserting pipe of the first single-ball rod;

5. The stamping multi-station conveying system according to claim 1, wherein the peripheral walls of the plug-in pipes of the second spherical hinge seats of the first and second spherical hinge seats are respectively provided with an adjusting groove which radially penetrates through the whole plug-in pipe, the peripheral walls of the plug-in pipes are sleeved with a fastening clamp, and an opening of the fastening clamp is screwed with an adjusting screw for adjusting the tightness of the plug-in shaft of the clamping.

6. The stamping multi-station conveying system according to claim 1, wherein the number of the adjusting bolts is two, the two adjusting bolts are respectively arranged on two sides of the vertical rod, nuts are arranged on second ends of the adjusting bolts, and the nuts and the sliding plate are respectively arranged on two opposite sides of the mechanical arm;

7. The stamping multi-station conveying system according to claim 1 or 6, wherein the sliding plate is provided with a through slot, and the adjusting bolt passes through the through slot;

8. The stamping multi-station conveying system according to claim 1, wherein the number of the end-effectors is four, and four end-effectors are provided in groups of two end-effectors on opposite sides of the stamping part.